Using hierarchical generative models to enhance the motor control of autonomous robots

Manipulation and locomotion tasks to validate the hierarchical generative model. a, A manipulation task, where the robot picks up the box (A), delivers it (B) and finally sends it off by activating the button (C). b, A penalty kick, where the robot approaches (A) the ball and kicks it into the goal (B and C).

To best move in their surrounding environment and tackle everyday tasks, robots should be able to perform complex motions, effectively coordinating the movement of individual limbs. Roboticists and computer scientists have thus been trying to develop computational techniques that can artificially replicate the process through …
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